Obstacle Avoidance Strategy with Path-following for USV Based on Obstacle-guidance Model Using 2D-Lidar in Urban River Conditions

摘要

An obstacle detection and automatic avoidance algorithm using lidar based on the obstacle-guidance model is proposed for Unmanned Surface Vehicles (USV) in urban river conditions. The smallest bounding rectangles represent obstacles detected by 2d-lidar due to the clutter of urban river laser data and the shape of actual blocks during navigation. On this basis, an obstacle vortex guidance model is proposed. The obstacle avoidance algorithm takes the heading and speed obtained by the Line-Of-Sight (LOS) method as input. It combines the obstacle guidance model to give the speed and yaw required for collision avoidance, which achieves good real-time performance and robustness in practical applications. Finally, the actual experiment is completed based on the built USV platform, where the entire algorithm is implemented on the Robot Operating System (ROS). The experiment results verify the proposed obstacle-avoidance method’s feasibility and validity.